期刊
AUTOMATICA
卷 91, 期 -, 页码 301-310出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2017.12.008
关键词
Adaptive control; Robust control; Switched nonlinear systems; Backstepping; Tuning function
资金
- National Natural Science Foundation of China [61573108, 61273192, 61333013, 11771102, 61503223]
- Ministry of Education of New Century Excellent Talent [NCET-12-0637]
- Natural Science Foundation of Guangdong Province [520120011437, 2016A030313715]
- Science and Technology Planning Project of Guangdong Province [2014A010103002]
- Doctoral Fund of Ministry of Education of China [20124420130001]
In this paper, we propose two adaptive control schemes to solve the output tracking control problem of a class of uncertain switched nonlinear systems. The first is a robust scheme constructed based on common Lyapunov function method, aiming to achieve the insensitivity of closed-loop system to parameter switches by estimating the bound on switching parameters. It is analyzed that the system stability under arbitrary switching is established with such a scheme, but the control input required may be relatively large since the estimate of the bound on switching parameters is utilized. To avoid this, we further propose a direct adaptive control scheme by estimating the switching parameters directly, and derive a dwell-time condition for parameter switches based on an extended multiple Lyapunov functions method newly developed, such that the global boundedness of all the closed-loop signals and the convergence of tracking error to a residual around zero are ensured. The effectiveness of the proposed control schemes is illustrated through simulation studies. (C) 2017 Elsevier Ltd. All rights reserved.
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